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Multimodal feedback for teleoperation of multiple mobile robots in an outdoor environment

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Abstract

Better situational awareness helps understand remote environments and achieve better performance in the teleoperation of multiple mobile robots (e.g., a group of unmanned aerial vehicles). Visual and force feedbacks are the most common ways of perceiving the environments accurately and effectively; however, accurate and adequate sensors for global localization are impractical in outdoor environments. Lack of this information hinders situational awareness and operating performance. In this paper, a visual and force feedback method is proposed for enhancing the situational awareness of human operators in outdoor multi-robot teleoperation. Using only the robots’ local information, the global view is fabricated from individual local views, and force feedback is determined by the velocity of individual units. The proposed feedback method is evaluated via two psychophysical experiments: maneuvering and searching tests using a human/hardware-in-the-loop system with simulated environments. In the tests, several quantitative measures are also proposed to assess the human operator’s maneuverability and situational awareness. Results of the two experiments show that the proposed multimodal feedback enhances only situational awareness of the operator.

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Acknowledgments

This research was supported in part by the Max Planck Society, in part by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT and Future Planning under Grant NRF-2015R1C1A1A02036875, in part by Chonnam National University (2015-0536), and in part by a Grant (115062-2) funded by the Ministry of Agriculture, Food and Rural Affairs (MAFRA, Korea).

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Authors and Affiliations

  1. Institute of Robotics and Intelligent Systems, ETH Zurich, 8092, Zurich, Switzerland

    Ayoung Hong

  2. Institute of Industrial Technology, Samsung Heavy Industries, Daejeon, 305-380, Korea

    Dong Gun Lee

  3. Max Planck Institute for Biological Cybernetics, Spemannstraße 38, 72076, Tübingen, Germany

    Heinrich H. Bülthoff

  4. Department of Brain and Cognitive Engineering, Korea University, Anam-dong, Seongbuk-gu, Seoul, 136-713, Korea

    Heinrich H. Bülthoff

  5. Department of Rural and Biosystems Engineering, Chonnam National University, 77 Yongbong-ro, Buk-gu, Gwangju, 550-757, Republic of Korea

    Hyoung Il Son

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  1. Ayoung Hong
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  2. Dong Gun Lee
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  3. Heinrich H. Bülthoff
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  4. Hyoung Il Son
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Correspondence to Hyoung Il Son.

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Hong, A., Lee, D.G., Bülthoff, H.H. et al. Multimodal feedback for teleoperation of multiple mobile robots in an outdoor environment. J Multimodal User Interfaces 11, 67–80 (2017). https://doi.org/10.1007/s12193-016-0230-y

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  • DOI: https://doi.org/10.1007/s12193-016-0230-y

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